CN110869992B

CN110869992B - Right/left turn determination method and right/left turn determination device for driving support vehicle

Info

Publication number: CN110869992B
Application number: CN201780092945.2A
Authority: CN
Inventors: 野尻隆宏; 志野达弥; 出川胜彦
Original assignee: Nissan Motor Co Ltd
Current assignee: Nissan Motor Co Ltd
Priority date: 2017-07-27
Filing date: 2017-07-27
Publication date: 2022-04-26
Anticipated expiration: 2037-07-27
Also published as: EP3660810A1; CN110869992A; EP3660810A4; BR112020001668A2; JPWO2019021422A1; US20210269031A1; JP7140763B2; EP3660810B1; CA3071228A1; WO2019021422A1; RU2735752C1; KR20200016391A

Abstract

The invention provides a left/right turn determination method for a driving support vehicle, which can appropriately determine the permission of left/right turn traveling across an opposite lane. Whether the host vehicle (S1) is parked in a scheduled left-right turn is determined based on the acquired information of the external sensor (11) and the internal sensor (12) which acquire the information of the periphery of the host vehicle (S1) and the information of the host vehicle, when the host vehicle (S1) is determined to be parked in a left-right turn, whether an oncoming vehicle is present on a scheduled travel trajectory (Y) of the host vehicle (S1) is determined, when it is determined that no oncoming vehicle is present on the scheduled travel trajectory (Y), whether a deep-side oncoming vehicle (T1) present on the deep side of the scheduled travel trajectory (Y) is parked is determined, and when it is determined that the deep-side oncoming vehicle (T1) is parked, the left-right turn driving is permitted.

Description

Right/left turn determination method and right/left turn determination device for driving support vehicle

Technical Field

The present disclosure relates to a left-right turn determination method and a left-right turn determination device for a driving assistance vehicle.

Background

Conventionally, there is known a left-right turn determination method for displaying a left-right turn warning to an oncoming vehicle when the oncoming vehicle turns right while crossing a host lane on which the host vehicle is traveling and the host vehicle determines that the host vehicle stops (see, for example, patent document 1).

Documents of the prior art

Patent document

Patent document 1, Japanese patent laid-open publication No. 2011-

Disclosure of Invention

Problems to be solved by the invention

However, the conventional left-right turn determination method is a technique for making the host vehicle, which is traveling straight, give way to the traveling road with respect to the oncoming vehicle, which makes a right turn, and is a method for determining permission of left-right turn in the straight-traveling vehicle. Therefore, it is considered that the right and left turn running of the vehicle that makes a right and left turn by crossing the opposite lane is not permitted to be performed at an appropriate timing without any disclosure.

The present disclosure has been made in view of the above problems, and an object of the present disclosure is to provide a left/right turn determination method and a left/right turn determination device for a driving support vehicle, which can appropriately determine permission for left/right turn traveling across an opposite lane.

Means for solving the problems

In order to achieve the above object, the present disclosure is a left-right turn determination method for a driving support vehicle including an in-vehicle sensor that acquires information on the periphery of the vehicle and information on the vehicle, and a controller that performs a permission determination for a left-right turn traveling across an opposite lane based on the acquired information of the in-vehicle sensor.

In the left-right turn determination method, first, it is determined whether or not the vehicle is stopped in order to travel in a left-right turn.

When it is determined that the host vehicle is scheduled to travel in a left-right turn and stop, it is determined whether or not an oncoming vehicle is present on the scheduled travel trajectory of the host vehicle.

Next, when it is determined that there is no oncoming vehicle on the predetermined travel locus, it is determined whether or not a depth-side oncoming vehicle on an oncoming lane that is present on a depth side of the predetermined travel locus is parked.

When it is determined that the vehicle is stopped, the vehicle is permitted to turn left or right.

ADVANTAGEOUS EFFECTS OF INVENTION

Therefore, in the present disclosure, it is possible to appropriately perform permission determination for right and left turn traveling across the opposite lane.

Drawings

Fig. 1 is a diagram showing an overall system configuration of a right turn determination system according to embodiment 1.

Fig. 2 is a flowchart showing the flow of the right-left turning control process executed by the vehicle running control unit of embodiment 1.

Fig. 3 is a flowchart showing a flow of the left-right turning control of the comparative example.

Fig. 4 is an explanatory diagram showing an intersection situation in a parking state where the host vehicle is scheduled to travel in a right turn.

Fig. 5 is an explanatory diagram showing an intersection situation in which the driving assistance vehicle to which the left-right turn determination method of embodiment 1 is applied is in a stopped state in which right-turn traveling is scheduled.

Detailed Description

Hereinafter, a mode for implementing the method and the device for determining a right/left turn of the driving assistance vehicle according to the present disclosure will be described with reference to embodiment 1 shown in the drawings.

(example 1)

First, the structure is explained.

The left-right turn determination method and the left-right turn determination device in embodiment 1 are applied to an automatically drivable driving assistance vehicle that is equipped with a right turn determination system for determining right turn permission at the time of a right turn scheduled travel crossing an opposite lane and automatically performs right turn travel at the time of right turn permission. Hereinafter, the configuration of embodiment 1 will be described as being divided into "the entire system configuration of the right turn determination system", "the detailed configuration of the right turn determination control means", and "the right turn control processing configuration".

[ Overall System Structure of Right Turn judgment System ]

As shown in fig. 1, a right turn determination system 1 of embodiment 1 includes: an external sensor 11, an internal sensor 12, a GPS receiving unit 13, a map database 14, a navigation system 15. Further includes a vehicle control ECU20 and a drive actuator 16.

The external sensor 11 is a sensor (in-vehicle sensor) provided in the host vehicle and used to acquire information on the surroundings of the host vehicle during traveling. The external sensor 11 of embodiment 1 is a stereo camera that is generally used, and acquires the peripheral information of the own vehicle by analyzing captured image data. The information on the periphery of the own vehicle acquired by the external sensor 11 is output to the vehicle control ECU20 and the navigation system 15 via the CAN communication line 10. In addition, as the external sensor 11, a clearance sonar using an ultrasonic wave, a laser range finder using an infrared laser, or the like may be used in addition to the stereo camera.

The interior sensor 12 is a sensor (vehicle-mounted sensor) provided in the vehicle and detecting a running state of the vehicle. Here, the internal sensor 12 is a vehicle speed sensor, a yaw angle sensor, a steering angle sensor, or the like. Own vehicle information indicating the traveling state of the own vehicle acquired by the internal sensor 12 is output to the vehicle control ECU20 and the navigation system 15 via the CAN communication line 10.

The GPS receiving unit 13 receives signals from three or more GPS satellites, extracts data required for positioning carried on the signals, and acquires GPS information indicating the position of the vehicle. The GPS information acquired by the GPS receiving unit 13 is output to the vehicle control ECU20 and the navigation system 15 via the CAN communication line 10.

The map database 14 is a database stored in an on-board memory (not shown) and includes map information in which traveling information such as a slope and a speed limit, traffic signals, signs, utility poles, structures (tunnels, bridges, pedestrian bridges, and the like), road periphery information such as stores and parking lots, and index information such as white lines and stop lines are written. The information of the map database 14 is referred to by the vehicle control ECU20 and the navigation system 15 via the CAN communication line 10.

The navigation system 15 estimates the position of the vehicle (self position) on the map using various information input from the external sensor 11, the internal sensor 12, the GPS receiving unit 13, and the map database 14. Then, a predetermined travel route to the destination is generated based on the estimated own position information, destination information set on the map by the driver of the own vehicle, and the like. Further, the driver is guided to the generated predetermined travel route. The travel route information and the self position information generated by the navigation system 15 are output to the vehicle control ECU20 via the CAN communication line 10.

The vehicle control ECU20 is an integrated controller that outputs a control command for causing the host vehicle to travel along a predetermined travel path, using various information input from the external sensor 11, the internal sensor 12, the GPS receiving unit 13, the map database 14, the navigation system 15, and an on-board memory, not shown. The control command output from the vehicle control ECU20 is input to the drive actuator 16 as necessary. The vehicle control ECU20 includes a vehicle position estimation unit 21 and a vehicle travel control unit 22.

The vehicle position estimating unit 21 estimates the traveling position of the vehicle using various information input from the external sensor 11, the internal sensor 12, the GPS receiving unit 13, the map database 14, and the navigation system 15.

When the vehicle position estimation unit 21 determines that the vehicle is parked, the vehicle travel control unit 22 (controller) determines whether the parking is a parking scheduled for right-turn travel crossing the opposite lane. When it is determined that the vehicle is scheduled to travel in a right turn across the opposite lane and stop, it is determined whether the vehicle can travel in a right turn using various information input from the external sensor 11, the internal sensor 12, the GPS receiving unit 13, the map database 14, and the navigation system 15, and right turn permission determination control is performed to output permission for right turn travel based on the determination result. When the vehicle travel control means 22 outputs the right turn permission, the vehicle travel control means outputs a right turn control signal for turning the vehicle right.

The driving actuator 16 is various actuators for driving an accelerator, a brake, and a steering for operating the vehicle. The drive actuator 16 is driven in accordance with a travel control command output from the vehicle travel control unit 22.

[ detailed Structure of vehicle travel control Unit ]

As shown in fig. 1, the vehicle travel control unit 22 of embodiment 1 includes: the present vehicle parking determination unit 23, the oncoming vehicle determination unit 24, the oncoming vehicle parking determination unit 25, the right-left turn permission unit 26, and the right-left turn travel control unit 27.

The own vehicle stop determination unit 23 acquires own vehicle information such as the vehicle speed of the own vehicle and the presence or absence of blinking blinker operation from the interior sensor 12. Then, the travel route information is acquired from the navigation system 15. Then, when the vehicle is stopped with the vehicle speed of zero, it is determined whether the vehicle is stopped in a right turn traveling across the opposite lane. That is, the own vehicle parking determination unit 23 determines whether or not the own vehicle is parked in a right turn traveling across the opposite lane.

The oncoming vehicle determination unit 24 acquires map information with reference to the map database 14 when the own vehicle parking determination unit 23 determines that the own vehicle is scheduled to travel in a right turn and is parked. Then, the travel route information is acquired from the navigation system 15. Then, a predetermined travel track of the host vehicle at the time of a right turn is searched for on the basis of the map information and the travel path information. Then, the oncoming vehicle determination unit 24 searches for the predetermined travel trajectory, acquires the position information of the oncoming vehicle based on the peripheral information from the external sensor 11, and determines whether or not the oncoming vehicle is present on the predetermined travel trajectory.

When the oncoming vehicle determination unit 24 determines that there is no oncoming vehicle on the predetermined travel trajectory, the oncoming vehicle parking determination unit 25 determines whether there is a depth-side oncoming vehicle based on the position information of the oncoming vehicle. When it is determined that the vehicle is parked, it is determined whether the vehicle is parked.

Then, when it is determined that the depth side oncoming vehicle is stopped, the oncoming vehicle stop determination unit 25 determines whether or not a passing operation for identifying the depth side oncoming vehicle is present. When the passing operation of the vehicle on the opposite side on the deep side cannot be recognized, it is determined whether the adjacent vehicle on the opposite side is stopped.

Further, when it is determined that the depth side oncoming vehicle is stopped, the oncoming vehicle stop determination unit 25 determines the presence or absence of a traffic signal present ahead of the host vehicle, based on the travel route information acquired from the navigation system 15 and the peripheral information acquired by the external sensor 11. Then, when the presence of the traffic signal is determined, the presence or absence of the green lighting state for identifying the traffic signal is determined.

Here, the "depth-side oncoming vehicle" is the leading vehicle of oncoming vehicles that are present on the depth side as viewed from the host vehicle, as compared to the predetermined travel trajectory that crosses the oncoming lane. The "adjacent oncoming vehicle" is an oncoming vehicle that is located at a position substantially adjacent to the parked host vehicle, the rearmost vehicle among oncoming vehicles present on the near side as viewed from the host vehicle, as compared to a predetermined travel trajectory that crosses an oncoming lane. That is, the adjacent oncoming vehicle is located forward and the depth-side oncoming vehicle is located rearward across the predetermined travel locus.

Further, the "passing action" is an action of urging the driver of the oncoming vehicle to travel the own vehicle, and is a behavior of the driver of the oncoming vehicle indicating the own vehicle to give way to the own vehicle. For example, the operation is a blinking operation of a headlight or a driver signal. Here, "stop" means that the vehicle speed is zero.

When the oncoming vehicle parking determination unit 25 determines that the oncoming vehicle is parked at a depth side and determines that there is a traffic operation for recognizing the oncoming vehicle at the depth side, the left-right turn permission unit 26 permits the host vehicle to travel in a right turn, and outputs a right turn permission signal. Then, the right-left turn permission means 26 permits the vehicle to turn right when it determines that the depth-side oncoming vehicle is stopped and it determines that the adjacent oncoming vehicle is stopped, that is, when it determines that any one of the oncoming vehicles in front of and behind the predetermined travel locus is stopped, and outputs a right turn permission signal.

Further, the right/left turn permission means 26 determines whether or not there is a passing operation or a stop of an adjacent oncoming vehicle when it is determined that there is a traffic signal ahead of the own vehicle and it is determined that there is a green lighting state for identifying the traffic signal, and outputs a right/left turn permission signal based on the result. That is, when the right-left turning permission unit 26 determines that there is a traffic signal ahead of the vehicle, it does not output the right-left turning permission signal unless it is determined that there is a green lighting state that identifies the traffic signal.

Then, when the oncoming vehicle determination means 24 determines that there is no deep-side oncoming vehicle, the right-left turning permission means 26 may output a right-turn permission signal while allowing the host vehicle to travel in a right turn. Then, the right turn permission signal is inputted to the right-left turn travel control means 27.

When the right turn permission signal is input from the right-left turn permission means 26, the right-left turn travel control means 27 causes the vehicle to travel along a predetermined travel track, and outputs a travel control command for causing the vehicle to travel in a right turn crossing the opposite lane. Then, the travel control command is input to the drive actuator 16.

Here, the travel speed during the right turn travel when it is determined that the vehicle having the opposite side of the depth side is present is set to a limit speed lower than a preset reference speed. On the other hand, the traveling speed during right-turn traveling when it is determined that there is no depth-side oncoming vehicle is set to the preset reference speed. Thus, the traveling speed during right turn traveling when there is a depth side oncoming vehicle is set to be slower than the traveling speed during right turn traveling when there is no depth side oncoming vehicle, and right turn traveling is performed slowly when there is a depth side oncoming vehicle as compared to when there is no depth side oncoming vehicle.

[ left-right turning control processing Structure ]

Fig. 2 is a flowchart showing the flow of the right-left turning control process executed in the vehicle running control unit of embodiment 1. Next, the left-right turning control processing of embodiment 1 will be described with reference to fig. 2.

In step S1, it is determined whether the vehicle is stopped in anticipation of right-turn traveling. If "yes" (parking at a right-turn scheduled) the process proceeds to step S2. If no (parking without a right turn), step S1 is repeated as right turn non-scheduled travel.

Here, whether or not the right turn running is scheduled is determined based on a scheduled running route, presence or absence of a blinking turn signal operation, and the like. The determination of the stop is made based on whether or not the speed of the vehicle detected by the vehicle speed sensor is zero.

In step S2, following the determination in step S1 of stopping the vehicle in the scheduled right turn, a scheduled travel route of the host vehicle in the right turn is searched for, and it is determined whether or not the oncoming vehicle is not present on the scheduled travel route. If yes (no oncoming vehicle), the process proceeds to step S3. If "no" (oncoming vehicle is present), the right-turn traveling may hinder the traveling of the oncoming vehicle on the predetermined travel trajectory, and therefore the process proceeds to step S13 as the right-turn traveling impossibility.

Here, the presence or absence of the oncoming vehicle is determined from the position information of the oncoming vehicle acquired from the peripheral information from the external sensor 11.

In step S3, next, in step S2, it is determined whether there is a traffic signal for the host vehicle ahead of the host vehicle without determining that there is no oncoming vehicle on the predetermined travel trajectory. If yes (signal is present), the process proceeds to step S4. If no (no signal), the process proceeds to step S5.

Whether or not there is a traffic signal for the own vehicle is determined based on the peripheral information and the like acquired by the external sensor 11.

In step S4, following the determination in step S3 as to the traffic signal of the own vehicle, it is determined whether or not the traffic signal can recognize the green lighting state. If "yes" (green lighting state is recognized), the process proceeds to step S5. If "no" (non-green lighting state is recognized), the vehicle needs to be stopped, and therefore the process proceeds to step S13 as a right-turn driving impossibility.

Here, the lighting state of the traffic signal is recognized based on the peripheral information acquired by the external sensor 11.

In step S5, it is determined whether or not a vehicle facing the deep side is present, following the determination that there is no traffic light for the host vehicle in step S3 or the determination that the green lighting state is recognized in step S4. If yes (depth-side oncoming vehicle is present), the process proceeds to step S6. If no (no depth side oncoming vehicle), the process proceeds to step S11.

Here, the "depth-side oncoming vehicle" is a vehicle on an oncoming lane that exists on the depth side of the predetermined travel locus. The presence or absence of the vehicle facing the deep side is determined based on the position information of the vehicle facing the deep side, which is acquired based on the peripheral information from the external sensor 11.

In step S6, next to the determination in step S5 that there is a vehicle facing the depth side, it is determined whether or not the vehicle facing the depth side intersects the predetermined travel locus of the host vehicle. If "yes" (the depthwise opposing vehicle is stopped), the process proceeds to step S7. If "no" (driving of the depth-side oncoming vehicle), the depth-side oncoming vehicle is not stopped, and the driving of the depth-side oncoming vehicle may be hindered if the right turn driving is performed, so it is assumed that the right turn driving is not permitted, and the process proceeds to step S13.

Here, whether or not the vehicle is parked on the deep-side oncoming vehicle is determined based on the position information of the oncoming vehicle acquired based on the peripheral information from the external sensor 11.

In step S7, it is determined whether or not the passing operation by the depth side oncoming vehicle determined to be present in step S5 is recognized, following the determination in step S6 that the depth side oncoming vehicle is stopped. If yes (pass operation recognition), the process proceeds to step S9. If no (no traffic motion recognition), the process proceeds to step S8.

Here, the presence or absence of the traffic operation is determined based on the peripheral information acquired by the external sensor 11.

In step S8, following the determination in step S7 that there is no passing operation recognition of the depth side oncoming vehicle, it is determined whether or not the parking state of the depth side oncoming vehicle continues, and it is determined whether or not the adjacent oncoming vehicle is parked. In the case of yes (adjacent opposite vehicle parking), the process proceeds to step S9. If "no" (adjacent oncoming vehicle is not parked), the vehicle may move forward, and if the vehicle is traveling in a right turn, the vehicle may be prevented from traveling in a right turn, and the process proceeds to step S13.

Here, the "adjacent oncoming vehicle" is a vehicle that exists on an oncoming lane on the near side of the predetermined travel locus. The presence or absence of the adjacent oncoming vehicle is determined based on the position information of the oncoming vehicle acquired based on the peripheral information from the external sensor 11. In addition to the case where the adjacent oncoming vehicle is traveling, it is determined that the adjacent oncoming vehicle is not parked when the adjacent oncoming vehicle is not present.

In step S9, following the determination in step S7 that the passing operation of the depth side oncoming vehicle is recognized or the determination in step S8 that the adjacent oncoming vehicle is stopped, the vehicle is allowed to run in a right turn by continuing the stopped state of the depth side oncoming vehicle, and a right turn permission signal is output, and the process proceeds to step S10.

In step S10, following the output of the right turn permission signal in step S9, a travel control command for performing right turn travel crossing the opposite lane is output, and the process is terminated.

As a result, the host vehicle travels along the predetermined travel trajectory, and performs right-turn travel by the automated driving. In this case, the traveling speed during the right turn traveling is set to a limit speed (for example, about 5 km/h) lower than a preset reference speed in order to pay attention to a blind spot caused by the parking of the vehicle facing the deep side.

In step S11, following the determination of the no depth side-to-side vehicle in step S5, the vehicle is allowed to travel in a right turn, provided that there is no factor inhibiting the right turn travel of the vehicle, and a right turn permission signal is output, and the process proceeds to step S12.

In step S12, following the output of the right turn permission signal in step S11, a travel control command for performing right turn travel crossing the opposite lane is output, and the process is terminated.

As a result, the host vehicle travels along the predetermined travel trajectory, and performs right-turn travel by the automated driving. In this case, since there is no vehicle facing the deep side and no blind spot is generated, the traveling speed during the right turn traveling is set to a preset reference speed (for example, about 10 km/h), and no speed limitation is performed.

In step S13, following either the determination that there is an oncoming vehicle on the predetermined travel path in step S2, the determination of non-green lighting state recognition in step S4, the determination of deep oncoming vehicle travel in step S6, or the determination that the adjacent oncoming vehicle is not parked in step S8, right turn travel is prohibited, and the drive control of the host vehicle is set to be based on manual driving by the driver, and the process is terminated.

Here, "manual driving" may be driving in which steering and acceleration/deceleration control of all the host vehicle are performed by the operation of the driver himself, or driving in which steering of the host vehicle is performed by automatic driving based on a travel control command and acceleration/deceleration control is performed by the operation of the driver himself. That is, the "automatic driving" in embodiment 1 is the driving in which the steering and acceleration/deceleration control of the host vehicle is performed by the operation of the drive actuator 16 based on the travel control command without any operation of the driver, and the "manual driving" is the driving in which the steering and acceleration/deceleration control of the host vehicle is performed by at least some operation of the driver.

Next, the operation will be described.

First, a flow of the right/left turn control of the comparative example and its problems will be described, and next, a right/left turn permission function of the right/left turn determination device and the right/left turn determination method of the driving assistance vehicle of embodiment 1 will be described.

[ procedure of control of left and right cornering and problem thereof ] of comparative example

Fig. 3 is a flowchart showing a flow of the left-right turning control of the comparative example. Fig. 4 is an explanatory diagram showing an intersection situation in a parking state where the host vehicle is scheduled to travel in a right turn. Next, the flow of the left-right turning control of the comparative example and the problem thereof will be described with reference to fig. 3 and 4.

As shown in fig. 4, when the host vehicle 31 travels right-turning while crossing the oncoming lane 33 at an intersection or the like, the oncoming vehicle that travels straight (the depth-side oncoming vehicle 34) is a so-called priority vehicle, and as a rule, the travel of the depth-side oncoming vehicle 34 cannot be hindered by the host vehicle 31.

Therefore, in the left-right turning control process of the comparative example, the left-right turning control is performed by the flow shown in the flowchart of fig. 3. That is, in step S100, it is determined whether or not the parking of the vehicle 31 is a parking scheduled for a right turn. If "yes" (parking at a predetermined right turn), the process proceeds to step S101. If "no" (parking without a right turn), the vehicle is assumed to be traveling without a right turn, and step S100 is repeated.

In step S101, following the determination in step S100 during the stop of the planned right turn, the planned travel trajectory 35 of the host vehicle 31 during the right turn is searched for, and it is determined whether or not there is no oncoming vehicle on the planned travel trajectory 35. If "yes" (no facing vehicle), the process proceeds to step S102. If "no" (oncoming vehicle is present), the right-turn traveling may hinder the traveling of the oncoming vehicle, and therefore the vehicle is allowed to proceed to return without being permitted to the right-turn traveling.

In step S102, it is determined whether or not there is a deep oncoming vehicle 34 following the determination in step S101 that there is no oncoming vehicle on the planned travel trajectory 35. If "yes" (there is a vehicle facing the deep side), the vehicle is set to go to return without allowing the right-turn running. If no (no depth side oncoming vehicle), the process proceeds to step S103.

In step S103, following the determination in step S102 that there is no depth side oncoming vehicle 34, it is assumed that right-turn travel is possible without a factor that inhibits right-turn travel of the host vehicle 31, and a right-turn permission signal is output, and the process proceeds to step S104.

In step S104, next to the output of the right turn permission signal in step S103, a travel control command for performing right turn travel across the opposite lane 33 is output, and the process is terminated.

As a result, the right-turn is permitted only when the depth-side oncoming vehicle 34 is not present on the depth side of the planned travel trajectory 35, and the right-turn travel crossing the oncoming lane 33 by the automated driving is enabled. Therefore, as shown in fig. 4, in a scene where the depth side oncoming vehicle 34 is present, the own vehicle 31 continues the parking state until the passage of the depth side oncoming vehicle 34 is completed.

In contrast, in the field of automatic driving, it has been known in recent years that when an oncoming vehicle makes a right turn at an intersection, a running road is set aside to the oncoming vehicle (the oncoming vehicle is caused to make a right turn before the straight-ahead running of the subject vehicle), whereby congestion in the subject vehicle and the oncoming lane is prevented, and a smooth traffic environment is achieved.

Specifically, a technology is disclosed for preventing the vehicle from stopping in the intersection so as not to obstruct the travel of the oncoming vehicle that enters the intersection while turning right. Further, there is disclosed a technique of performing a forward display urging a right turn on an oncoming vehicle when it is determined that the subject vehicle is stopped at the intersection.

However, these techniques are techniques for giving a right turn to an oncoming vehicle scheduled to make a right turn, and no technique for giving a present party (a party making a right turn) is disclosed. That is, for example, as shown in fig. 4, when the host vehicle 31 is scheduled to travel in a right turn and stops, and when the depth side oncoming vehicle 34 stops and gives way to the host vehicle 31, it is desirable that the host vehicle 31 travel in a right turn along the scheduled travel locus 35 in order to prevent congestion of the following vehicle 32 of the host vehicle 31 or congestion of the oncoming lane 33.

However, in the left-right turn control processing of the comparative example shown in fig. 3, the right turn is permitted when there is no depth side oncoming vehicle 34 as the priority vehicle, so the own vehicle 31 continues to be stopped until the passage of the depth side oncoming vehicle 34 is completed. As a result, there is a possibility that the own lane 30 and the opposite lane 33 may be clogged.

[ Right and left turn permitting action ]

Fig. 5 is an explanatory diagram showing an intersection situation in which the driving assistance vehicle to which the left-right turn determination method of embodiment 1 is applied is in a stopped state in which right-turn traveling is scheduled. Hereinafter, the left-right turning permission function of embodiment 1 will be described with reference to fig. 2 and 5.

As shown in fig. 5, a case is considered in which an automatically drivable driving assistance vehicle (hereinafter referred to as "own vehicle S1") to which the left-right turning determination method of embodiment 1 is applied makes a right turn along a predetermined travel locus Y at an intersection X.

In step S1 of the flowchart shown in fig. 2, it is determined whether the host vehicle S1 is stopping while traveling in a right turn. In the case shown in fig. 5, since the vehicle is stopped with a right-turn scheduled traveling, the process proceeds to step S2, and it is determined whether or not an oncoming vehicle is present on the scheduled traveling locus Y.

In fig. 5, since there is no vehicle that is stopping at the intersection X, there is no oncoming vehicle on the predetermined travel locus Y. Therefore, the process proceeds to step S3. If there is an oncoming vehicle on the predetermined travel locus Y, the routine proceeds to step S13 to set manual driving so as not to hinder the travel of the oncoming vehicle, and the driver is requested to drive the oncoming vehicle.

In step S3, it is determined whether or not the traffic signal Z in front of the host vehicle S1 exists, and in step S4, it is determined whether or not the traffic signal Z is in a green lighting state. That is, if there is the traffic signal Z in the green lighting state, the process proceeds to step S3 → step S4 → step S5. On the other hand, at an intersection or the like where the traffic signal Z is not present, the process proceeds to step S3 → step S5.

Then, in the case where the traffic signal Z is not in the green lighting state (when yellow or red is lit), the vehicle S1 must stop, and therefore the process proceeds to step S4 → step S13, and manual driving is set, and the driver is requested to drive.

In contrast, in the case shown in fig. 5, since there is the traffic signal Z in the green lighting state, the process proceeds to step S3 → step S4 → step S5, and it is determined whether there is the deep side oncoming vehicle T1. In the case shown in fig. 5, a depth-side oncoming vehicle T1 exists on the depth side of the predetermined running locus Y. Therefore, the process proceeds to step S5 → step S6, and it is determined whether or not the vehicle T1 is parked.

Here, in the case shown in fig. 5, in the oncoming lane T being congested, the adjacent oncoming vehicle T2 existing on the near side of the predetermined running locus Y and the preceding vehicle T3 of the adjacent oncoming vehicle T2 are both stopped. Therefore, the depthwise opposing vehicle T1 cannot move forward and stop. Accordingly, it is determined that the depth side oncoming vehicle T1 is parked, and the process proceeds to step S6 → step S7.

When the depth side oncoming vehicle T1 is not stopped, if the host vehicle S1 turns right, there is a possibility that the travel of the depth side oncoming vehicle T1 is obstructed, and the process proceeds to step S6 → step S13, where manual driving is set, and the driver is requested to drive.

After the process proceeds to step S7, it is determined whether or not the passing operation by the depth side oncoming vehicle T1 is recognized. When it is determined that the passing operation is recognized, the driver of the opposite-depth vehicle T1 gives priority to the right turn traveling of the host vehicle S1, and the process proceeds to step S7 → step S9 → step S10, where a right turn permission signal is output, and the right turn traveling of the host vehicle S1 is executed.

On the other hand, if it cannot be determined that there is a traffic operation by the recognition depth-side oncoming vehicle T1, the process proceeds to step S8, where it is determined whether or not the adjacent oncoming vehicle T2 is parked.

Then, as shown in fig. 5, when the adjacent oncoming vehicle T2 is parked, the deep-side oncoming vehicle T1 cannot advance and maintains the parked state, and therefore the process proceeds to step S9 → step S10, where a right turn permission signal is output, and right turn running by the host vehicle S1 that is automatically running is executed. When the adjacent oncoming vehicle T2 is traveling ahead or when there is no adjacent oncoming vehicle T2, it is assumed that there is a possibility that the deep-side oncoming vehicle T1 will proceed to enter the intersection, and the process proceeds to step S13, where manual driving is set and the driver is requested to drive.

Further, unlike the case shown in fig. 5, when there is no depth side oncoming vehicle T1, the process proceeds to step S5 → step S11 → step S12, a right turn permission signal is output, and right turn traveling of the host vehicle S1 by automatic traveling is executed.

In this way, in the left-right turn determination method according to embodiment 1, when the host vehicle S1 is stopped while traveling in a planned right turn, even if the depth side oncoming vehicle T1 is present on the depth side of the planned travel trajectory Y, the stopped state of the depth side oncoming vehicle T1 can be determined, and when the depth side oncoming vehicle T1 is stopped, the right turn traveling of the host vehicle S1 is permitted.

Thus, it is possible to appropriately perform the permission determination of the right-left turn traveling across the oncoming lane T, and the right-left turn traveling of the host vehicle S1 can be performed even if the depth-side oncoming vehicle T1 is the priority vehicle when the depth-side oncoming vehicle T1 gives way to the host vehicle S1. This eliminates unnecessary parking of the vehicle S1, and prevents the traffic jam in the own lane S and the opposite lane T.

In embodiment 1, when the depth side oncoming vehicle T1 is stopped and the passing operation by the depth side oncoming vehicle T1 is recognized, the right turn permission signal is output. That is, the right turn permission signal is output when not only the parking of the depth side opposite vehicle T1 but also the behavior indicating the intention of the driver of the depth side opposite vehicle T1 to make the route is confirmed.

Thus, the intention of the depth side oncoming vehicle T1 to give way to the host vehicle S1 can be determined more accurately, and right turn permission can be determined.

When the depth-side oncoming vehicle T1 is stopped but the passing operation of the depth-side oncoming vehicle T1 cannot be recognized, the right turn permission signal is output when the adjacent oncoming vehicle T2 is stopped. That is, the right turn permission signal is output when not only the parking of the depth side opposite vehicle T1 is confirmed but also the continuation of the parking state of the depth side opposite vehicle T1 is confirmed.

Thus, it is possible to appropriately determine that the stopped state of the depth-side oncoming vehicle T1 continues, and determine the permission of right turning.

Further, in embodiment 1, when the traffic signal Z is present ahead of the own vehicle S1, the right turn permission signal is output when the green lighting state of the traffic signal Z is recognized.

Thus, the permission determination for the right-turn traveling can be appropriately performed in accordance with the traffic signal Z existing ahead of the vehicle S1.

In embodiment 1, the right turn permission signal is output even when the depth-side oncoming vehicle T1 is stopped, and when the right turn traveling is performed while crossing the oncoming lane T, the traveling speed during the right turn traveling is set to the limit speed that is lower than the preset reference speed. On the other hand, when the depth side oncoming vehicle T1 is absent, the right turn permission signal is output, and when right turn travel is performed across the oncoming traffic lane T, the travel speed during right turn travel is set to the preset reference speed.

Thus, for example, the vehicle can travel with attention paid to the blind spot caused by the depth side oncoming vehicle T1, by paying attention to the presence of a two-wheeled vehicle entering the intersection X through the blind spot caused by the depth side oncoming vehicle T1.

In example 1, when the oncoming vehicle is present on the predetermined travel trajectory Y, the depth-side oncoming vehicle T1 is traveling, the traffic signal Z is in the non-green lighting state, or the adjacent oncoming vehicle T2 is in the non-stop state, the routine proceeds to step S13, where manual driving by a driver riding on the host vehicle S1 is set. Thus, the right-turn running of the host vehicle S1 is requested to the driver 'S own driving, and the right-turn running can be executed by the driver' S judgment.

Next, effects will be described.

The left-right turning determination method and the left-right turning determination device for the driving assistance vehicle of embodiment 1 obtain the following effects.

(1) A left/right turn determination method for a driving support vehicle, which includes on-vehicle sensors (an external sensor 11 and an internal sensor 12) for acquiring information on the periphery of the vehicle S1 and information on the vehicle, and a controller (a vehicle travel control means 22) for determining permission of left/right turn travel crossing an opposite lane T based on the acquired information of the on-vehicle sensors (the external sensor 11 and the internal sensor 12), is configured such that

It is determined whether the own vehicle S1 is stopping while the left-right turn running is scheduled (step S1),

when the vehicle S1 is stopped in a left-right turn, it is determined whether or not an oncoming vehicle is present on the predetermined travel locus Y of the vehicle S1 (step S2),

determining whether a vehicle T1 is parked on the oncoming lane T that is present on the deep side of the predetermined travel locus Y when it is determined that the oncoming vehicle is not present on the predetermined travel locus Y (step S5, step S6),

when it is determined that the depth side oncoming vehicle T1 is stopped, the left-right turning travel is permitted (step S9).

Thus, the permission determination of the right-left turn traveling across the opposite lane T can be appropriately performed.

(2) When it is determined that the depth-side oncoming vehicle T1 is parked, it is determined whether an adjacent oncoming vehicle T2 on the oncoming lane T existing on the near side of the predetermined travel trajectory Y is parked (step S8), and when it is determined that the adjacent oncoming vehicle T2 is parked, the left-right turning travel is permitted (step S9).

Thus, in addition to the effect of (1), it is possible to appropriately determine whether or not the depth side-to-side vehicle T1 gives way to the host vehicle S1, and determine the right turn permission.

(3) When it is determined that the depth side oncoming vehicle T1 is stopped, it is determined whether or not a passing operation performed by the depth side oncoming vehicle T1 is recognized (step S7),

when the passing operation is recognized, the left-right turn running is permitted (step S9).

Thus, in addition to the effect of (1), the deep-side oncoming vehicle T1 can be determined more accurately as meaning that the own vehicle S1 gives way to the road, and right turn permission can be determined.

(4) When the vehicle T1 is determined to be stopped, the presence or absence of the traffic signal Z existing ahead of the host vehicle S1 is determined (step S3),

if it is determined that the traffic signal Z is present, it is determined whether or not the green lighting state of the traffic signal Z is recognized (step S4),

when the green lighting state is recognized, the left-right turn running is permitted (step S9).

Thus, in addition to any of the effects (1) to (3), the permission determination for the right-turn traveling can be appropriately performed while following the traffic signal Z existing ahead of the host vehicle S1.

(5) The vehicle S1 is an autonomous vehicle that automatically performs the left-right turn running based on a signal from the controller (vehicle running control means 22), and is configured to perform the left-right turn running

When it is determined that the right-left turn running is permitted, the right-left turn running is automatically executed, and the running speed at the time of the right-left turn running when the depth side oncoming vehicle T1 is present is set to be slower than the running speed at the time of the right-left turn running when the depth side oncoming vehicle T1 is not present.

Thus, during left-right turn running, running can be performed in which the blind spot caused by the depth side oncoming vehicle T1 is noticed.

(6) A right/left turn determination device for a driving support vehicle, comprising on-vehicle sensors (an external sensor 11 and an internal sensor 12) for acquiring information on the periphery of the vehicle S1 and information on the vehicle, and a controller (vehicle travel control means 22) for determining permission of right/left turn travel crossing an opposite lane T on the basis of the acquired information from the on-vehicle sensors (the external sensor 11 and the internal sensor 12),

the controller (vehicle travel control unit 22) includes:

a vehicle parking determination unit 23 that determines whether or not the host vehicle S1 is parked while the host vehicle is scheduled to travel in the left-right turn;

an oncoming vehicle determination unit 24 configured to determine whether or not an oncoming vehicle is present on a predetermined travel trajectory Y of the host vehicle S1 when the host vehicle parking determination unit 23 determines that the host vehicle S1 is scheduled to travel in a left-right turn and is parked;

an oncoming vehicle parking determination unit 25 that determines whether or not a depth-side oncoming vehicle T1 on the oncoming lane T that is present on a depth side of the predetermined travel trajectory Y is parked when it is determined by the oncoming vehicle determination unit 24 that the oncoming vehicle is not present on the predetermined travel trajectory Y; and

and a right-left turn permission means 26 for permitting the right-left turn running when the oncoming vehicle parking determination means 25 determines that the depth-side oncoming vehicle T1 is parked.

Although the left-right turn determination method and the left-right turn determination device for the driving assistance vehicle according to the present disclosure have been described above with reference to embodiment 1, the specific configuration is not limited to this embodiment, and changes, additions, and the like to the design may be allowed without departing from the gist of the invention according to each claim of the claims.

In example 1, there is shown an example in which, after the determination of the parking of the depth side oncoming vehicle T1 is made, the passing operation performed by the depth side oncoming vehicle T1 is further recognized, or the right turn permission determination is made when the determination is made that the adjacent oncoming vehicle T2 is parked. That is, in embodiment 1, when it is determined that only the depth side oncoming vehicle T1 is stopped, the right turn is not permitted.

However, it is not limited thereto. For example, the right turn may be permitted at the timing when the depth side oncoming vehicle T1 is determined to be stopped. Further, the right turn may not be permitted unless the parking of the adjacent oncoming vehicle T2 is determined regardless of the presence or absence of the recognition of the passing operation, or the right turn may not be permitted unless the passing operation of the deep-side oncoming vehicle T1 is recognized regardless of the presence or absence of the parking of the adjacent oncoming vehicle T2.

That is, the right turn permission may be made based on the determination result of the parking determination of the depth side oncoming vehicle T1, or the right turn permission may be made based on the determination result of the presence or absence of the passing operation determination after the parking determination of the depth side oncoming vehicle T1. Further, after the determination that the depth-side oncoming vehicle T1 is stopped, only the stop of the adjacent oncoming vehicle may be determined, and right-turn permission may be performed based on the determination result.

Further, the right turn permission determination may be made without determining the presence or absence of the traffic signal Z in front of the own vehicle S1 and without recognizing the green lighting state of the traffic signal Z.

In embodiment 1, an example is shown in which when the right turn permission determination is made, a travel control command is output, and the right turn travel by the automatic driving is executed, and when the right turn permission determination is not made, the drive is set to the manual driving. However, the present invention is not limited to this, and for example, in the case of applying the present invention to a vehicle not equipped with an automatic driving function, the right turn permission may be broadcast to the driver by sound, display, voice, or the like as a result of the determination that the right turn permission has been determined.

In example 1, when the subject vehicle S1 is scheduled to travel to a right turn at the intersection X, the permission determination for the right turn is performed. However, the scene in which the left-right turning determination is performed is not limited to this. For example, the present invention can be applied to a scene or the like entering a parking lot or the like adjacent to an opposite lane across the opposite lane.

In example 1, a scene in which right-turn driving is performed while crossing an oncoming lane with reference to left-side traffic is taken. However, the present invention is not limited to this, and the left/right turn determination method of the present disclosure may be applied to a case where the vehicle travels left-turning after crossing the opposite lane in the case of right-hand traffic. That is, the left/right turn determination method and the left/right turn determination device according to the present disclosure may be applied to a case where the vehicle travels left/right while turning across the opposite lane.

Claims

1. A left-right turn determination method of a driving assistance vehicle having an in-vehicle sensor that acquires information on the periphery of the vehicle and information on the vehicle; and a controller for performing a permission determination of the left-right turn travel during a parking in which the left-right turn travel crossing the opposite lane is scheduled, based on information acquired by the in-vehicle sensor,

determining whether the own vehicle is stopped while the left-right turn is scheduled to be driven,

determining whether or not an oncoming vehicle is present on a predetermined travel track of the host vehicle when it is determined that the host vehicle is stopped in a left-right turn,

determining whether a leading vehicle on the opposite lane, that is, a deep-side opposite vehicle is parked when it is determined that the opposite vehicle is not present on the predetermined travel locus,

when the host vehicle is scheduled to travel in the left-right turn and when it is determined that the vehicle on the opposite side from the depth side is stopped, the left-right turn travel is permitted and the left-right turn travel is executed.

2. The left-right turn determination method of the driving-assist vehicle according to claim 1,

determining whether an adjacent oncoming vehicle on the oncoming lane existing on a near side of the predetermined travel locus is parked when it is determined that the depth-side oncoming vehicle is parked,

and when the adjacent opposite vehicle is judged to stop, the left-right turning driving is allowed.

3. The left-right turn determination method of the driving-assist vehicle according to claim 1,

when the vehicle opposite to the longitudinal depth side is judged to stop, whether the passing action performed by the vehicle opposite to the longitudinal depth side is identified or not is judged,

and when the traffic action is recognized, allowing the left-right turning running.

4. The left-right turn determination method of the driving-assist vehicle according to any one of claims 1 to 3,

determining whether or not there is a traffic signal existing ahead of the host vehicle when it is determined that the vehicle opposite to the depth side is parked,

judging whether there is a green lighting state for identifying the traffic signal when it is judged that the traffic signal exists,

when the green lighting state is recognized, the left-right turn driving is permitted.

5. The left-right turn determination method of the driving-assist vehicle according to any one of claims 1 to 3,

the self-vehicle is an automatic vehicle that automatically performs the left-right turn running based on a signal from the controller,

when it is determined that the right-left turn running is permitted, the right-left turn running is automatically executed, and the running speed in the right-left turn running when the depth side opposite vehicle is present is set to be slower than the running speed in the right-left turn running when the depth side opposite vehicle is not present.

6. The left-right turn determination method of the driving-assist vehicle according to any one of claims 1 to 3,

determining whether the depth-side oncoming vehicle is parked when it is determined that the oncoming vehicle is not present on the predetermined travel trajectory,

when it is determined that the vehicle is traveling and the host vehicle is turning left or right to hinder the vehicle from traveling, the left or right turn driving is not permitted.

7. A right/left turn determination device for a driving support vehicle having an in-vehicle sensor for acquiring information on the periphery of the vehicle and information on the vehicle, and a controller for performing permission determination of right/left turn travel during parking in which the right/left turn travel across an opposite lane is scheduled, based on the acquired information from the in-vehicle sensor,

the controller includes:

a vehicle parking determination unit configured to determine whether or not the vehicle is parked while the vehicle is traveling in the left-right turn;

an oncoming vehicle determination unit that determines whether or not an oncoming vehicle is present on a predetermined travel trajectory of the host vehicle when the host vehicle parking determination unit determines that the host vehicle is parked while traveling in a predetermined left-right turn;

an oncoming vehicle parking determination unit that determines whether or not a depth-side oncoming vehicle, which is a leading vehicle on the oncoming lane existing on a depth side of the predetermined travel trajectory, is parked, when it is determined by the oncoming vehicle determination unit that the oncoming vehicle is not present on the predetermined travel trajectory;

a right-left turn permission means for permitting the right-left turn travel when the oncoming vehicle parking determination means determines that the host vehicle is parked with the oncoming vehicle parked; and

and a right-left turn running control means for outputting a running control command and executing the right-left turn running, following the permission of the right-left turn running by the right-left turn permission means.